config.proto

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syntax = "proto2";
 
package apollo.drivers.lidar;
 
message FilterConfig {
  required string frame_id = 1;
  optional float max_x = 2;
  optional float min_x = 3;
  optional float max_y = 4;
  optional float min_y = 5;
  optional float max_z = 6;
  optional float min_z = 7;
}
 
message FusionAndCompensatorConfig {
  optional uint32 max_interval_ms = 1;
  optional bool drop_expired_data = 2;
  repeated string input_channel = 3;
  optional float wait_time_s = 4;
  optional string output_channel = 5;
  optional float transform_query_timeout = 6 [default = 0.02];
  optional string world_frame_id = 7 [default = "world"];
  optional string target_frame_id = 8;
  optional bool rotation_compensation = 9 [default = false];
  optional bool translation_compensation = 10 [default = true];
 
  repeated FilterConfig filter_config = 11;
}